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<div class="title">particle_filter_omp.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PCL_TRACKING_IMPL_PARTICLE_OMP_FILTER_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PCL_TRACKING_IMPL_PARTICLE_OMP_FILTER_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;pcl/tracking/particle_filter_omp.h&gt;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> StateT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"><a class="line" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#aef8d0b02ecfe408fd146574e58a29887">    7</a></span>&#160;<a class="code" href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#aef8d0b02ecfe408fd146574e58a29887">pcl::tracking::ParticleFilterOMPTracker&lt;PointInT, StateT&gt;::weight</a> ()</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;{</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;  <span class="keywordflow">if</span> (!use_normal_)</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  {</div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(threads_)</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; particle_num_; i++)</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;      this-&gt;computeTransformedPointCloudWithoutNormal (particles_-&gt;points[i], *transed_reference_vector_[i]);</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    PointCloudInPtr coherence_input (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>);</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    this-&gt;cropInputPointCloud (input_, *coherence_input);</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keywordflow">if</span> (change_counter_ == 0)</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    {</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;      <span class="comment">// test change detector</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;      <span class="keywordflow">if</span> (!use_change_detector_ || this-&gt;testChangeDetection (coherence_input))</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;      {</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;        changed_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        change_counter_ = change_detector_interval_;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        coherence_-&gt;setTargetCloud (coherence_input);</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        coherence_-&gt;initCompute ();</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(threads_)</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; particle_num_; i++)</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;        {</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;          IndicesPtr indices;   <span class="comment">// dummy</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;          coherence_-&gt;compute (transed_reference_vector_[i], indices, particles_-&gt;points[i].weight);</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        }</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;      }</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;        changed_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    }</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    {</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;      --change_counter_;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      coherence_-&gt;setTargetCloud (coherence_input);</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      coherence_-&gt;initCompute ();</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(threads_)</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; particle_num_; i++)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        IndicesPtr indices;     <span class="comment">// dummy</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        coherence_-&gt;compute (transed_reference_vector_[i], indices, particles_-&gt;points[i].weight);</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    }</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  }</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    std::vector&lt;IndicesPtr&gt; indices_list (particle_num_);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; particle_num_; i++)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      indices_list[i] = IndicesPtr (<span class="keyword">new</span> std::vector&lt;int&gt;);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(threads_)</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; particle_num_; i++)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      this-&gt;computeTransformedPointCloudWithNormal (particles_-&gt;points[i], *indices_list[i], *transed_reference_vector_[i]);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    PointCloudInPtr coherence_input (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    this-&gt;cropInputPointCloud (input_, *coherence_input);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    coherence_-&gt;setTargetCloud (coherence_input);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    coherence_-&gt;initCompute ();</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="preprocessor">#pragma omp parallel for num_threads(threads_)</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; particle_num_; i++)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      coherence_-&gt;compute (transed_reference_vector_[i], indices_list[i], particles_-&gt;points[i].weight);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    }</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  }</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  normalizeWeight ();</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;}</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ParticleFilterOMPTracker(T,ST) template class PCL_EXPORTS pcl::tracking::ParticleFilterOMPTracker&lt;T,ST&gt;;</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1tracking_1_1_particle_filter_o_m_p_tracker_html_aef8d0b02ecfe408fd146574e58a29887"><div class="ttname"><a href="classpcl_1_1tracking_1_1_particle_filter_o_m_p_tracker.html#aef8d0b02ecfe408fd146574e58a29887">pcl::tracking::ParticleFilterOMPTracker::weight</a></div><div class="ttdeci">virtual void weight()</div><div class="ttdoc">weighting phase of particle filter method. calculate the likelihood of all of the particles and set t...</div><div class="ttdef"><b>Definition:</b> particle_filter_omp.hpp:7</div></div>
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